Title :
Parallel detection and resolution of deadlocks in multiple robots systems
Author :
Nagata, Motoyasu
Author_Institution :
Osaka Electro-Commun. Univ., Japan
Abstract :
The author investigates parallel deadlock detection and resolution in a multiple robot system. The deadlock is a typical problem in real-time assembly using robots. The wait-for-graph (WFG) is generated by using a defined job scheduling graph (JSG) which represents a partial ordering of processes of multiple robots for as specified job in computer integrated manufacturing (CIM). A deadlock detection method by hypercube parallel processing is presented. The deadlock detection is based on relaxed squashed embedding-that is, adjacent nodes of the WFG exist in the adjacent subcube. A strategy of deadlock resolution inherent in the multiple robot system is presented
Keywords :
assembling; computer integrated manufacturing; hypercube networks; industrial robots; parallel processing; process computer control; scheduling; CIM; computer integrated manufacturing; digital control; hypercube; job scheduling graph; multiple robots systems; parallel deadlock detection; parallel deadlock resolution; parallel processing; real-time assembly; relaxed squashed embedding; wait-for-graph; Computer integrated manufacturing; Hypercubes; Job shop scheduling; Parallel processing; Parallel robots; Processor scheduling; Robot sensing systems; Robotic assembly; Spatial resolution; System recovery;
Conference_Titel :
Industrial Electronics, Control, Instrumentation, and Automation, 1992. Power Electronics and Motion Control., Proceedings of the 1992 International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-0582-5
DOI :
10.1109/IECON.1992.254493
